A method of walking trajectory for biped robot based on Newton interpolation

Shu，Yingli1; Yuan，Quande2; Li，Huazhong3; Ke，Wende4

2022

10.1504/ijwmc.2022.126355

International Journal of Wireless and Mobile Computing   影响因子和分区

1741-1084

1741-1092

Trajectory design of biped robot is the premise of effective walking. By analysing the kinematics characteristics of biped robot, Newton’s interpolation is used to design the trajectory of insertion point when planning periodic motion and realising Zero Moment Point (ZMP) constraint. With the increase of interpolation points, the curve fitting effect is improved and it will not lead to more expensive calculation cost, which can effectively meet the real-time requirements. Simulation results show the effectiveness of the method.

biped robot interpolation trajectory walking

英语

通讯

2-s2.0-85142526586

Scopus

1.School of Electrical Engineering and Information Technology,Changchun Institute of Technology,Changchun,Jilin,China
2.School of Computer Technology and Engineering,Changchun Institute of Technology,Changchun,Jilin,China
3.Sino-German School,Shenzhen Institute of Information Technology,Shenzhen,Guangdong,China
4.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,Guangdong,China

Shu，Yingli,Yuan，Quande,Li，Huazhong,et al. A method of walking trajectory for biped robot based on Newton interpolation[J]. International Journal of Wireless and Mobile Computing,2022,23(2):108-113.

Shu，Yingli,Yuan，Quande,Li，Huazhong,&Ke，Wende.(2022).A method of walking trajectory for biped robot based on Newton interpolation.International Journal of Wireless and Mobile Computing,23(2),108-113.

Shu，Yingli,et al."A method of walking trajectory for biped robot based on Newton interpolation".International Journal of Wireless and Mobile Computing 23.2(2022):108-113.